# Copyright 2020-2022, The Autoware Foundation
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from launch_ros.actions import Node
from launch import LaunchDescription


def generate_launch_description():

    lgsvl_laser_adapter = Node(
        package='lgsvl_laser_adapter_nodes',
        executable='lgsvl_laser_adapter_nodes_exe',
        namespace='lidar',
        output='screen',
        remappings=[
            ("scan_in", "/lgsvl/scan"),
            ("scan_out", "/lidar/scan"),
        ]
    )

    return LaunchDescription([lgsvl_laser_adapter])
